From cf46655a4c7d7f8876f95f81cf21f2f346de7c6a Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Wed, 30 Nov 2016 12:03:01 +0100
Subject: [PATCH] test dDv_dwb
---
src/test/gtest_processorIMU_jacobians.cpp | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp
index 2327c5206..d2f4ed4a1 100644
--- a/src/test/gtest_processorIMU_jacobians.cpp
+++ b/src/test/gtest_processorIMU_jacobians.cpp
@@ -146,6 +146,18 @@ TEST_F(ProcessorIMU_jacobians_bias, dDp_dwb)
"\ndDp_dwb_a - dDv_dab_ : \n" << bias_jac.dDp_dwb_ - dDp_dwb << std::endl;
}
+TEST_F(ProcessorIMU_jacobians_bias, dDv_dwb_)
+{
+ using namespace wolf;
+ Eigen::Matrix3s dDv_dwb;
+
+ for(int i=0;i<3;i++)
+ dDv_dwb.block<3,1>(0,i) = (bias_jac.Deltas_noisy_vect_(i+3).tail(3) - bias_jac.Delta0_.tail(3))/ddelta_bias;
+
+ EXPECT_TRUE((dDv_dwb - bias_jac.dDv_dwb_).isMuchSmallerThan(1,0.000001)) << "dDv_dwb : \n" << dDv_dwb << "\n bias_jac.dDv_dwb_ :\n" << bias_jac.dDv_dwb_ <<
+ "\ndDv_dwb_a - dDv_dwb_ : \n" << bias_jac.dDv_dwb_ - dDv_dwb << std::endl;
+}
+
int main(int argc, char **argv)
{
using namespace wolf;
--
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